EP3942383A1 - Dispositif de pilotage d'un véhicule, véhicule équipé d'un tel dispositif et procédé de gestion de la vitesse et de la direction d'un tel véhicule - Google Patents
Dispositif de pilotage d'un véhicule, véhicule équipé d'un tel dispositif et procédé de gestion de la vitesse et de la direction d'un tel véhiculeInfo
- Publication number
- EP3942383A1 EP3942383A1 EP20726192.6A EP20726192A EP3942383A1 EP 3942383 A1 EP3942383 A1 EP 3942383A1 EP 20726192 A EP20726192 A EP 20726192A EP 3942383 A1 EP3942383 A1 EP 3942383A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripping tool
- vehicle
- axis
- movement
- translational movement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
- B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
Definitions
- TITLE Device for controlling a vehicle, vehicle equipped with such a device and method for managing the speed and direction of such a vehicle
- the present invention relates to a device for controlling a vehicle intended to move in a two-dimensional environment, comprising a gripping tool capable of moving in translation relative to a first axis and in rotation relative to a second axis.
- the present invention also relates to a vehicle equipped with such a device and to a method of managing the speed and direction controls of such a vehicle.
- the vehicles are conventionally driven using steering wheels, pedals and / or throttle and deceleration levers.
- aircraft are piloted using sticks.
- the two axes of operation of the stick correspond to the movement of the aircraft in three dimensions, pitch (rotation around the transverse axis) and roll (rotation around the longitudinal axis). These two axes are intimately linked during piloting.
- the speed is controlled by the throttle stick which typically is not connected to the stick, the throttle stick having a separate controller.
- a vehicle intended to travel in a two-dimensional environment such as a surface
- the two axes of operation to be controlled in a land or sea vehicle namely direction and speed, are not connected, and they require separate contributions from the driver.
- a device such as a ball joint type two-axis stick for an aircraft is not configured for driving a land or marine vehicle since such a stick cannot control the parameters that it is necessary to control. for a land or sea vehicle, namely direction and speed.
- a two-axis piloting device for a land or sea vehicle, which would manage both steering control and speed control and which would be configured to be able to be manipulated with one hand by the driver.
- Such a piloting device with two operating axes requires said two axes to be separate and not to be operable by the same movement of the driver's arm or wrist.
- a two-axis piloting device configured to allow the piloting of a vehicle moving in a two-dimensional space.
- the piloting device can for example be a lateral piloting device intended to be positioned next to the driver of the vehicle.
- the architecture of the two-axis piloting device allows precise and independent management of each axis with a single hand by the driver. For example, the movement of the gripping tool of the control device reproduces the movement of the vehicle.
- the present invention relates to a device for controlling a vehicle intended to move in a two-dimensional environment and comprising at least one means for controlling the speed of said vehicle and at least one means for controlling the direction of said vehicle, characterized in that it comprises a gripping tool capable of being gripped by a hand of a human operator, said gripping tool being able to move relative to a first axis according to a translational movement with two degrees of freedom aligned with said said first axis, and relative to a second axis, according to a rotational movement with two degrees of freedom around said second axis, said translational movement being independent of said rotational movement, said device comprising:
- At least one linear guide means configured to guide the translational movement of said gripping tool along said first axis, said linear guide means being connected to said gripping tool and being able to move along a central beam aligned with said first axis,
- At least one angular guide means configured to guide the rotational movement of said gripping tool around said second axis, said angular guide means being connected to said gripping tool and being able to rotate around a cylindrical beam aligned with said second axis, - At least one sensor of the linear position of said gripping tool, able to be connected to one of the speed control means and the vehicle direction control means,
- At least one sensor of the angular position of said gripping tool able to be connected to the other of the speed control means and the vehicle direction control means,
- At least one end stop of the translational movement of said gripping tool At least one end stop of the translational movement of said gripping tool
- At least one motor connected to said central beam.
- the device according to the invention is intended to be integrated into the piloting space of a vehicle intended to move in a two-dimensional environment, such as for example any type of motor vehicle such as cars, trucks, buses, all vehicles. - land, construction machinery, industrial equipment vehicles or even boats, planes.
- the vehicle comprises at least one means for controlling its speed, such as for example a combustion engine, and at least one means for controlling its direction, for example wheels for a land vehicle, or a rudder for a boat.
- the device according to the invention can be easily integrated into any existing piloting system, and in particular any land vehicle piloting control system.
- the architecture of the device according to the invention is designed to be able to adapt to driving systems by mechanical controls, such as rods, cables, and to driving or aerial piloting systems by electrical controls, such as so-called “drive-systems”. by-wire ”or“ fly-by-wire ”.
- the device according to the invention can for example be positioned laterally near the driver's seat, so that the driver's hand with which the driver wishes to control the vehicle can easily grasp the gripping tool, for example a handle, and move it freely and without effort or significant change in position of the body over the entire amplitude of the translational and rotational movements authorized by the device.
- the device according to the invention can be positioned substantially in place of a gear lever of a conventional vehicle.
- the device according to the invention can for example be positioned in the cabin, substantially at the height of the abdomen of a human being, so that, here too, the pilot's hand with which said pilot wishes to pilot the boat can easily grasp the gripping tool and move it freely and without effort or significant change of position of the body over the entire amplitude of the translational and rotational movements authorized by the device.
- the present invention thus also relates to a land or sea vehicle, characterized in that it is equipped with a device as described above.
- the device according to the invention allows precise management of one of the movements, for example in translation, respectively in rotation, of the gripping tool, completely independently of the other possible movement, for example in rotation, respectively in translation. , of said gripping tool.
- the device according to the invention can be used with one hand of a human operator, and equally with the right hand or the left hand.
- the device according to the invention comprises at least one linear guide means configured to guide the translational movement of the gripping tool along a first axis.
- the linear guide means is connected to the gripping tool and is adapted to move along a central beam aligned with the first axis.
- the linear guide means is for example a support on which the gripping tool is fixed, for example a handle.
- the device according to the invention also comprises at least one angular guide means configured to guide the rotational movement of the gripping tool about a second axis.
- the angular guide means is connected to the gripping tool and is able to rotate around a cylindrical beam aligned with the second axis.
- the gripping tool, the linear guide means and the central beam of the device according to the invention are intended to be aligned with the longitudinal axis of the arm of the human operator wishing to use the device of the invention.
- the angular guide means is intended to be movable in rotation about an axis of the wrist of said operator.
- the device according to the invention also comprises at least one sensor of the linear position of the gripping tool.
- the sensor of the linear position of the gripping tool is able to detect the displacement of the linear guide means, and therefore of the gripping tool, and to determine the linear position of the gripping tool along the beam central.
- the sensor of the linear position of the gripping tool is able to be connected to one of the means for controlling the speed and the means for controlling the direction of the vehicle.
- the sensor of the linear position of the gripping tool is able to be connected to the means for controlling the speed of the vehicle, for example a combustion engine.
- the device according to the invention also comprises at least one sensor of the angular position of the gripping tool.
- the sensor of the angular position of the gripping tool is able to detect the displacement of the guide means angular, and therefore of the gripping tool, and in determining the angular position of the gripping tool around the cylindrical beam.
- the sensor of the angular position of the gripping tool is able to be connected to one of the means for controlling the speed and the means for controlling the direction of the vehicle.
- the sensor of the angular position of the gripping tool is able to be connected to the means for controlling the direction of the vehicle, for example the wheels in a land vehicle, or the rudder for a boat.
- the device according to the invention makes it possible to manage both speed control and control of the direction taken by a land or sea vehicle, by means of a single hand of a human operator.
- the linear position of the gripping tool on the one hand, and the angular position of the gripping tool on the other hand can each be associated with one of the two controls mentioned above, and this independently.
- the structure of the device according to the invention allows precise and independent management of each of said first and second axes, and therefore of each of the two desired controls, namely speed control on the one hand, and control of the direction of on the other hand, using just one hand of the human operator.
- the present invention thus relates to a method for managing the controls of the speed and direction of such a vehicle moving in a two-dimensional space, characterized in that the linear position of the gripping tool is associated with one of said two controls and that the angular position of the gripping tool is associated with the other of said two controls.
- the linear position of the gripping tool is associated with the control of the direction followed by the vehicle.
- a translation of the gripping tool in the distal direction may result in the vehicle turning to the right, or alternatively to the left, while a translation of the gripping tool in the proximal direction may have the consequence of making the vehicle turn in the opposite direction, either for example towards the left, or alternately towards the right.
- the angular position of the gripping tool can be associated with the control of the speed of the vehicle.
- clockwise rotation of the gripping tool may result in vehicle acceleration, or alternatively vehicle deceleration
- counterclockwise rotation of the gripping tool may result in vehicle acceleration.
- the linear position of the gripping tool is associated with the control of the speed of the vehicle.
- a translation of the gripping tool in the distal direction results in an acceleration of the vehicle, or alternatively a deceleration of the vehicle
- a translation of the gripping tool in the proximal direction has the opposite consequence, either for example the deceleration of the vehicle, or alternatively the acceleration of the vehicle.
- the angular position of the gripping tool can be associated with the direction followed by the vehicle.
- a clockwise rotation of the gripping tool may cause the vehicle to turn to the right, or alternatively to the left, while a counterclockwise rotation of the gripping tool.
- clockwise direction may result in the vehicle turning in the opposite direction, for example to the left, or alternately to the right.
- the linear position of the gripping tool is associated with a control of the speed of the vehicle, for example an acceleration, a deceleration or a maintenance of cruising speed.
- the angular position of the gripping tool can for example then be associated with a control of the direction followed by the vehicle, for example a right turn or a left turn, or a straight line.
- Such an embodiment is particularly ergonomic and user-friendly for the operator. Indeed, in such an embodiment, the movement of the gripping tool naturally substantially reproduces the actual movement of the vehicle.
- the embodiment will be essentially described in which the linear position of the gripping tool is associated with the control of the speed, the angular position of the gripping tool being associated with the control of the direction. .
- all of the characteristics described below could be transposed to a method according to the invention in which the linear position of the gripping tool is associated with the control of the direction of the vehicle, and the angular position of the tool. grip would be associated with vehicle speed control.
- a neutral linear position of the gripping tool can for example be defined, in which the vehicle is stationary.
- the device according to the invention can then further comprise means for returning the gripping tool to the neutral linear position.
- a neutral angular position of the gripping tool can for example be defined, in which the direction followed by the vehicle is a straight line.
- the device according to the invention can then further comprise means for returning the gripping tool to the neutral angular position.
- the means for returning the gripping tool to the neutral linear position or to the neutral angular position may for example be springs.
- a translational movement of the gripping tool in the distal direction can be associated with an acceleration of the vehicle.
- a translational movement of the gripping tool in the proximal direction can then be associated with a deceleration of the vehicle.
- the device according to the invention can comprise at least one means of transmitting a sensation of force associated with the translational movement.
- Said at least one means of transmitting a feeling of effort associated with the translational movement of said gripping tool may comprise at least one means of transmitting a feeling of effort associated with the translational movement in the distal direction and at least one means emission of the sensation of effort associated with the translational movement in the proximal direction.
- the means for emitting a sensation of force associated with the translational movement in the distal direction allows the human operator to precisely manage the acceleration of the vehicle, for example without sudden jolts, by feeling resistance when moving the gripping tool in the distal direction.
- the means for transmitting the sensation of effort associated with the translational movement in the proximal direction allows the operator to operate a controlled deceleration of the vehicle due to the resistance he may feel when moving. the gripping tool in the proximal direction.
- a clockwise rotational movement of the gripping tool can be associated with a right turn of the vehicle.
- a rotational movement of the gripping tool counterclockwise can then be associated with a left turn of the vehicle.
- the device according to the invention may comprise at least one means of emitting a sensation of force associated with the rotational movement of the gripping tool.
- Said at least one means of transmitting a feeling of effort associated with the rotational movement of said gripping tool may comprise at least one means of transmitting a feeling of effort associated with the rotational movement in the clockwise direction and at least one means emission of the sensation of effort associated with the movement of rotation in the opposite direction to the clockwise direction.
- the means for transmitting a feeling of effort associated with the clockwise rotational movement allows the human operator to precisely manage a change in direction of the vehicle to the right, for example without jerks. abrupt, feeling resistance when moving the rotating gripping tool clockwise.
- the means of transmitting the sensation of effort associated with the rotational movement in the counterclockwise direction allows the operator to make a left turn of the controlled vehicle due to the resistance he can. feel when it moves the rotating gripper counterclockwise.
- the means for emitting a feeling of effort can be chosen from the means of emission of the sensation of passive effort, such as for example springs, shock absorbers, means of emission of the sensation of active force, such as for example motors, active hydraulic systems, etc. and their combinations.
- the device according to the invention can comprise several means for transmitting a feeling of effort, the number of means for transmitting a feeling of effort being preferably determined by the type of vehicle on which the device is installed.
- the device according to the invention comprises at least one means of transmitting a feeling of effort associated with the translational movement of the gripping tool and at least one means of transmitting a feeling of effort associated with the movement in rotation of the gripping tool.
- the means for emitting a feeling of force are springs.
- the device according to the invention comprises at least one end stop for the translational movement of the gripping tool. Said end-of-travel stopper makes it possible to stop the linear guide means, for example in the proximal direction in order to brake the vehicle and stop it.
- the end stop may for example be a hydraulic end stop. Alternatively, said end stop may be a magnetic end stop. Alternatively, the end stop may be an elastomeric end stop.
- the device according to the invention also comprises a motor connected to the central beam.
- the motor makes it possible to transform the movement of the gripping tool of the device according to the invention into an electrical signal, in particular the rotational movement of said tool, said electrical signal then being used and converted to cause movement of the vehicle, in particular them. changes in direction of the vehicle.
- said motor is a brushless direct current (BLDC) motor.
- the device according to the invention may further comprise a shock absorber capable of collecting data relating to the two-dimensional environment in which said vehicle is moving and of supplying these data to the vehicle, with a view to modifying the linear position of said gripping tool.
- the modification of the linear position of the gripping tool can thus lead for example to the acceleration of the vehicle or on the contrary to its deceleration.
- the shock absorber makes it possible to send to the vehicle the information according to which the vehicle is approaching an upward slope in order to move the linear position of the gripping tool, for example in the distal direction in order to cause the vehicle to accelerate.
- the shock absorber collects the information that the vehicle is entering a downhill grade, it can send that information to the vehicle so that the linear position of the gripper is moved proximally, thereby causing the vehicle to decelerate. .
- the device according to the invention can also comprise at least one end stop for the rotational movement of said gripping tool.
- said first axis and said second axis being coincident, said central beam and said cylindrical beam form a single beam of cylindrical shape, and said linear guide means and said angular guide means are in the form of a single support carrying said gripping tool, said single support being able to move along and around said single cylindrically shaped beam.
- Such an embodiment allows easy and intuitive use of the device according to the invention. It also makes it possible to produce a device according to the invention that is compact and simple to manufacture.
- the device according to the invention can be integrated into an armrest, for example central front, of said vehicle. Such an embodiment allows improved comfort for the human operator, who can rest his arm on the armrest while manipulating the gripping tool in order to steer the vehicle.
- FIG. 1 is a side view of a diagram showing a device according to the invention.
- FIG. 2 is a perspective view of an embodiment of a device according to the invention.
- FIG. 3 is a perspective view of another embodiment of the device according to the invention.
- FIG. 4 is a perspective view of the device of FIG. 2 or of FIG. 3 integrated into a vehicle armrest,
- FIG. 5 is a block diagram of the operation of the device according to the invention illustrating the method according to the invention
- FIG. 6 is a kinematic diagram illustrating the means of transmitting the sensation of force of the device according to the invention.
- a device 1 for controlling a vehicle (not shown) intended to move in a two-dimensional environment, comprising a gripping tool in the form of a handle 2 capable of move relative to a first axis according to a translational movement with two degrees of freedom aligned with this first axis, and relatively to a second axis, according to a rotational movement with two degrees of freedom around this second axis, the translational movement being independent of said rotational movement.
- the first axis and the second axis coincide and are shown in the form of the axis A.
- the device 1 comprises a central beam 3 of cylindrical shape, the longitudinal axis of which is aligned with the axis A, and a support 4 carrying the handle 2.
- the handle 2 is fixed to the support 4 without possible movement of one relative to the other.
- the support 4 comprises a sleeve 5 arranged around the central beam 3 and is movable in translation along the central beam 3 and in rotation around this central beam 3 thanks to a ball bearing system 6 ensuring contact between a wall internal of the sleeve 5 and the external surface of the central beam 3.
- the support 4 is thus movable in translation along the central beam 3 in the distal direction and in the proximal direction, in other words in the two directions indicated by the arrow B, according to a movement aligned with the axis A corresponding to the longitudinal axis of the central beam 3.
- the human operator (not shown) is on the right side of the sheet, so that the distal direction corresponds to a direction towards the left of the leaf, while the proximal direction corresponds to a direction going to the right of the leaf.
- the support 4 is also movable in rotation around the central beam 3 in the clockwise direction and in the counterclockwise direction (see arrow C in Figure 1), according to a rotational movement around the axis A.
- turning handle 2 clockwise would mean moving it to the right, while turning handle 2 counterclockwise would mean turning it towards left.
- the support 4 thus forms both a linear guide means of the handle
- a human operator In operation in the passenger compartment of a vehicle, a human operator positions himself vis-à-vis the device such that his hand grasps the handle 2 and that the longitudinal axis of his arm is aligned with the handle 2, the support 4 and the central beam 3. The operator can then move the support 4 in translation according to a movement also in translation of his arm, forwards (distal direction) or rearwards (proximal direction). It can also independently move the support
- the device 1 further comprises a linear position sensor 7 of the handle 2.
- the linear position sensor 7 of the handle 2 makes it possible to determine the position of the handle 2 along the central beam 3
- the device also comprises a sensor of the angular position 8 of the handle 2.
- the sensor of the angular position 8 of the handle 2 makes it possible to determine the position of the handle 2 around the axis A.
- the linear position of the stick 2 can for example be associated with the control of the speed of the vehicle and the angular position of the stick 2 can be associated with the vehicle direction control.
- the linear position sensor 7 of the handle 2 is able to be connected to the speed control means of the vehicle, for example a combustion engine.
- the angular position sensor 8 of the stick 2 is able to be connected to the means for controlling the direction of the vehicle, for example the wheels in a land vehicle, or the rudder for a boat.
- a translation of the handle 2 in the distal direction may result in an acceleration of the vehicle, or alternatively a deceleration of the vehicle, while a translation of the handle 2 in the proximal direction may have the opposite consequence, for example the vehicle deceleration, or alternatively vehicle acceleration.
- a rotation of the stick 2 clockwise can result in the vehicle turning to the right, or alternatively to the left, while a rotation of the stick 2 in the opposite direction to the clockwise direction can have the consequence of making the vehicle turn in the opposite direction, for example towards the left, or alternately towards the right.
- a translation of the handle 2 in the distal direction results in the acceleration of the vehicle and a translation of the handle 2 in the proximal direction results in a deceleration of the vehicle.
- a rotation of the stick 2 in the clockwise direction has the consequence of making the vehicle turn to the right and a rotation of the stick 2 in the opposite direction to the clockwise direction has the consequence of making the vehicle turn to the left.
- the movement of the handle within the device 1 conforms to the movement of the vehicle in the two-dimensional environment in which it is moving.
- the device 1 further comprises a means of emitting a feeling of force associated with the translational movement of the handle 2, in the form of a spring 9.
- the spring 9 causes a sensation. of effort for the human operator when he moves the handle 2 in translation in the distal direction with a view to causing the vehicle to accelerate.
- the resistance that the operator feels due to the presence of the spring 9 allows the operator to more precisely measure the gear change he wishes to operate and to avoid sudden accelerations that are difficult to control.
- the device could also include a spring causing a feeling of force when the operator moves the handle 2 in the proximal direction, in order to control a deceleration of the vehicle.
- the device 1 comprises a means of transmitting a feeling of force associated with the rotational movement of the handle 2, in the form of a spring 10.
- the spring 10 causes a feeling of effort for the human operator when he moves the handle 2 in rotation clockwise, to turn the vehicle to the right, or counterclockwise, to turn the handle. vehicle to the left.
- the resistance that the operator feels due to the presence of the spring 10 allows the operator to more precisely measure the change of direction he wishes to make and to turn the vehicle in a controlled manner.
- the device 1 also comprises an end stop 11 of the translational movement of the handle 2.
- the end stop 11 stops the support 4 in the proximal direction in order to brake the vehicle. and stop it.
- the end stop 11 shown is a hydraulic end stop. In an embodiment of device 1, not shown, the end stop could be magnetic, or else elastomeric.
- the device 1 also comprises a brushless direct current motor 12, connected to the central beam 3.
- the motor 12 makes it possible to transform the movement of the handle 2 into an electrical signal, this electrical signal then being used and converted to cause the vehicle to move in accordance with the movement of stick 2.
- the device 1 can also include a shock absorber 13 able to collect data relating to the two-dimensional environment in which the vehicle is moving and to supply these data to the vehicle, with a view to modifying the linear position of the handle 2.
- the shock absorber 13 makes it possible to send to the vehicle the information according to which the vehicle is approaching an upward slope in order to move the linear position of the stick 2, for example in the distal direction in order to cause the vehicle to accelerate.
- the shock absorber 13 collects the information that the vehicle is entering a downhill grade, it can send this information to the vehicle so that the linear position of the stick 2 is moved proximally, thereby causing the vehicle to decelerate.
- the device may include an end stop for the rotational movement of the handle 2.
- the central beam can be defined on the central beam a neutral linear position of the handle 2, in which the vehicle is stationary, as well as a neutral angular position of the handle 2, in which the direction followed by the vehicle is a straight line.
- the device can then comprise means for returning the handle 2 to the neutral linear position and / or to the neutral angular position, for example in the form of springs.
- FIG 2 is shown a partial perspective view of the device 1 of Figure 1 integrated into a housing 14 integral with the vehicle (not shown) in which the device 1 is installed. Elements identical to those in Figure 1 are designated by the same references.
- Figure 3 there is shown a variant of the device 1 of Figure 2 in which the first axis, corresponding to the translational movement of the handle 2, and the second axis, corresponding to the rotational movement of the handle 2 are parallel but distinct. Elements identical to those in Figure 1 are designated by the same references.
- the device 1 of Figure 3 comprises a handle 2, a central beam 15 of substantially parallelepiped shape having a longitudinal axis A1 and a first support 16 disposed at least partially around the central beam 15 and movable in translation relative to the latter, for example by means of a ball bearing system ensuring contact between an internal wall of the first support 16 and the external surface of the central beam 15.
- the first support 16 is movable in translation relative to the central beam 15 in the distal direction and in the proximal direction, as indicated by arrow B.
- the device 1 also comprises a cylindrical beam 17 having a longitudinal axis A2, and a second support in the form of a sleeve 18 arranged around the cylindrical beam 17 and movable in rotation around this cylindrical beam 17, for example by virtue of a ball bearing system ensuring contact between an internal wall of the sleeve 18 and the outer surface of the cylindrical beam 17.
- the sleeve 18 is movable in rotation about the axis A2 clockwise and counterclockwise, only within the limits of the first support 16, within which the cylindrical beam 17 and the sleeve 18 are installed.
- the handle 2 is fixed on the sheath 18 without possible movement of one relative to the other.
- the first support 16 forms a linear guide means for the handle 2 to guide the translational movement of the handle 2 along the central beam 15 of parallelepiped shape.
- the sleeve 18 forms an angular guide means for guiding the rotational movement of the handle 2 around the cylindrical beam 17.
- the device of Figure 3 has a hydraulic end stop 11 of the translational movement of the first support 16, and therefore of the handle 2.
- the device 1 according to the invention is shown integrated in an armrest 19 which can receive the arm of the human operator wishing to use the device 1.
- the armrest 19 incorporating the device 1 according to the invention can be installed by example at the front of a land vehicle, laterally to the driver's seat.
- FIG. 6 there is illustrated a kinematic diagram illustrating an embodiment of the device according to the invention comprising three separate means of transmitting a feeling of effort, namely a means of transmitting a feeling of effort associated with the rotational movement 20 of the handle 2, a means of transmitting a feeling of effort associated with the translational movement in the distal direction 21 of the handle 2 and a means of transmitting a feeling of effort associated with the translational movement in the direction proximal 22 of the handle 2.
- Such an embodiment can for example be integrated into the control system of a motor vehicle.
- the means of emitting a feeling of effort associated with the rotational movement 20 of the handle 2 causes a feeling of effort during changes of direction of the vehicle: this means of emitting a feeling of effort 20 may for example comprise an electric motor to provide the driver with a force feedback coming from the wheels of the motor vehicle.
- the means of transmitting the sensation of effort associated with the translational movement in the proximal direction 22 of the handle 2 causes a sensation of effort during the deceleration of the vehicle: this means of transmitting the sensation of effort 22 can provide a hydraulic-type effort sensation and can be connected to the vehicle's hydraulic system to allow braking.
- the means for transmitting a feeling of force associated with the translational movement in the distal direction 21 causes a feeling of force during acceleration of the vehicle: it can for example include a spring-type force feedback to mimic a sensation. force on an accelerator pedal.
- Other force feedback interfaces can be envisaged depending on the desired use of the device according to the invention.
- the device and the method according to the invention according to the invention make it possible to manage both the speed control and the control of the direction taken by a land or sea vehicle, by means of a single hand of a human operator.
- the structure of the device according to the invention indeed makes it possible to define a first axis, associated with a translational movement with two degrees of freedom of the handle, and a second axis, associated with a rotational movement with two degrees of freedom of the handle. handle, and to make these movements independent of each other.
- the structure of the device according to the invention allows precise and independent management of each of them. these two desired controls, and this by means of a single hand of the human operator.
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Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201962820949P | 2019-03-20 | 2019-03-20 | |
FR2000200A FR3106222A1 (fr) | 2020-01-10 | 2020-01-10 | Dispositif de pilotage d’un véhicule, véhicule équipé d’un tel dispositif et procédé de gestion de la vitesse et de la direction d’un tel véhicule |
PCT/FR2020/050534 WO2020188201A1 (fr) | 2019-03-20 | 2020-03-13 | Dispositif de pilotage d'un véhicule, véhicule équipé d'un tel dispositif et procédé de gestion de la vitesse et de la direction d'un tel véhicule |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3942383A1 true EP3942383A1 (fr) | 2022-01-26 |
Family
ID=70738769
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20726192.6A Withdrawn EP3942383A1 (fr) | 2019-03-20 | 2020-03-13 | Dispositif de pilotage d'un véhicule, véhicule équipé d'un tel dispositif et procédé de gestion de la vitesse et de la direction d'un tel véhicule |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP3942383A1 (fr) |
WO (1) | WO2020188201A1 (fr) |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003291821A (ja) * | 2002-04-01 | 2003-10-15 | Koyo Seiko Co Ltd | 車両用操舵装置 |
US6880855B2 (en) * | 2003-01-06 | 2005-04-19 | General Motors Corporation | Rotary driver control input device |
-
2020
- 2020-03-13 WO PCT/FR2020/050534 patent/WO2020188201A1/fr unknown
- 2020-03-13 EP EP20726192.6A patent/EP3942383A1/fr not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
WO2020188201A1 (fr) | 2020-09-24 |
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